CN107193888B - A kind of urban road network model towards lane grade navigator fix - Google Patents
A kind of urban road network model towards lane grade navigator fix Download PDFInfo
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- CN107193888B CN107193888B CN201710299349.3A CN201710299349A CN107193888B CN 107193888 B CN107193888 B CN 107193888B CN 201710299349 A CN201710299349 A CN 201710299349A CN 107193888 B CN107193888 B CN 107193888B
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
A kind of urban road network model towards lane grade navigator fix, the model are mainly made of road geographic information layer, both sides of the road building information layer and road plane lane line Information Level three parts.The road plane lane line Information Level in the model uses the plane lane line of Cardinal Based on Interpolating Spline fit object road three times simultaneously, so that linear have preferable slickness, continuity and plasticity, the spline curve can preferably adapt to the big feature of urban road Curvature varying, and the parameter of acquisition can more realistically reflect the plane lane status of urban road.Urban road network model proposed by the invention, extend the attribute of traditional road grade numerical map, improve the precision of traditional road grade numerical map, have many advantages, such as that information content is complete, precision is high, applicability is wide, under complicated urban traffic environment, realize that vehicle is accurate, continue, real-time navigation positioning meet the needs of lane grade navigator fix.
Description
Technical field
The present invention relates to automobile navigation positioning field fields, more particularly to a kind of city towards lane grade navigator fix
Road network model.
Background technique
Currently, automobile navigation location technology flourish to numerical map, more stringent requirements are proposed, traditional road grade
Numerical map is no longer satisfied intelligent transportation system (ITS Intelligent Transportation System) to positioning
The requirement of precision.Therefore, precision can reach sub-meter grade lane stage enhancement type numerical map it is extensive by domestic and foreign scholars
Research, lane stage enhancement type numerical map are increasingly becoming the important information source of modern vehicle navigation positioning system.
Lane stage enhancement type numerical map is to increase some endemic genuses on the basis of original traditional road grade numerical map
Property (such as curvature, the gradient, lane line of road etc.) numerical map have more compared to traditional road grade numerical map
Geographic information data abundant, more concise reasonable road network structure.Navigation positioning system can be according to the difference of environment and demand
It is different to increase the information that system needs on the basis of traditional road grade numerical map to reach the demand of lane grade navigator fix.Want structure
Perfect lane stage enhancement type numerical map is built, the design of urban road network model is its vital ring.
However most cities road network model is all not perfect in detail enough at present, data needed for lacking high accuracy positioning
Information, model architecture is excessively single, and data structure redundancy, precision be low and bad adaptability.These deficiencies greatly restrict number
The extension of map attribute and the raising of precision.In addition, in the intensive traffic environment of City Building, navigation positioning satellite signal
It usually will receive blocking for high building, signal errors is larger, and appointing has more satellite to carry out positioning calculation, and vehicle also cannot achieve essence
Really, it positions persistently, in real time.
Summary of the invention
To solve the above problems, the present invention proposes a kind of urban road network towards lane grade navigator fix
Model, this model extension attribute of traditional road grade numerical map, improves the precision of traditional road grade numerical map.Multiple
It under miscellaneous urban traffic environment, can be realized that vehicle is accurate, continues, real-time navigation positioning, meet the need of lane grade navigator fix
It asks, for this purpose, the present invention proposes a kind of urban road network model towards lane grade navigator fix, it is characterised in that:
The model carries out segmentation modeling to urban road；By the section between the adjacent intersection of any two and do not wrap
Be defined as an independent target road containing intersection, for each target road, model by the target road road
Road geography information floor, both sides of the road building information floor and road plane lane line Information Level three parts composition, while the model
In road plane lane line Information Level using Cardinal Based on Interpolating Spline fit object road three times plane lane line,
Parameter to obtain can more realistically reflect the plane lane status of urban road；
The model is specific as follows:
The model M consists of three parts: road geographic information layer G, both sides of the road building information layer J, road plane vehicle
Diatom Information Level T, it may be assumed that
Μ=(G, J, T) (1)；
1) road geographic information layer G:
G=(Rid,O,U,V,W) (2)；
In formula (2), RidIndicate the number of target road；Indicate the coordinate of target road starting point, whereinIt is the longitude and latitude of starting point respectively with λ；U indicates the geographical attribute collection of target road, U=(Re,Rl,Rw), wherein ReTable
Show the title of target road, RlIndicate the length of target road, RwIndicate the width of target road；V indicates that target road two sides are built
The number collection of object is built,Wherein α and β distinguishes table
Show the number of target road left and right side building,The number of i-th of building on the left of expression target road, i=1,
2 ..., α,Indicate the number of j-th of building on the right side of target road, j=1,2 ..., β；W indicates that target road is included
The number collection of lane line, W=(N1,…,Nr,…,Nd), wherein d indicates the number of the included lane line of target road, NrIt indicates
The number of the r articles lane line in target road, r=1,2 ..., d；
2) both sides of the road building information layer J:
In formula (3), RidIndicate the number of target road, α and β respectively indicate the number of target road left and right side building
Mesh,The information of i-th of building on the left of expression target road, i=1,2 ..., α,Indicate jth on the right side of target road
The information of a building, j=1,2 ..., β；It can further indicate that are as follows:
In formula (4),Indicate the number of i-th of building on the left of target road,It indicates
The coordinate of this building plane geometry central point,WithThis building plane geometry central point is respectively indicated with mesh
Mark the abscissa, that is, east orientation position and ordinate, that is, north orientation position under the Gaussian parabolic line system that road starting point O is origin
It sets；Then indicate this building plane geometry two on target road direction
The coordinate set of endpoint,It is endpoint using target road starting point as the horizontal seat under the Gaussian parabolic line system of origin
Mark,It is endpoint using target road starting point as the ordinate under the Gaussian parabolic line system of origin, HleftIt indicates
The height of this building；
Similarly,It can further indicate that are as follows:
In formula (5),Indicate the number of j-th of building on the right side of target road,Table
Show the coordinate of this building plane geometry central point,WithRespectively indicate this building plane geometry central point with
Target road starting point O is the abscissa, that is, east orientation position and ordinate, that is, north orientation position under the Gaussian parabolic line system of origin
It sets；Then indicate this building plane geometry two on target road direction
The coordinate set of a endpoint,It is endpoint using target road starting point as the cross under the Gaussian parabolic line system of origin
Coordinate,It is endpoint using target road starting point as the ordinate under the Gaussian parabolic line system of origin, HrightTable
Show the height of this building；
3) road plane lane line Information Level T:
In formula (6), RidIndicate the number of target road, d indicates the number of the included lane line of target road, LrIndicate mesh
The information of the r articles lane line on road is marked, wherein r=1,2 ..., d；LrIt can further indicate that are as follows:
Lr=(P, Q) (7)；
In formula (7), P={ S1=(x1,y1),…,Sk=(xk,yk),…,Sm=(xm,ym) it is in the r articles lane center
The node coordinate collection sequentially chosen on line, wherein k=2,3 ..., m-2, S2And Sm-1It is the beginning and end in the lane, S respectively1
Be on the lane extended line with S2A bit adjacent, SmBe on the lane extended line with Sm-1A bit adjacent, x and y difference
Be using target road starting point O as the abscissa under the Gaussian parabolic line system of origin i.e. east orientation position and ordinate i.e.
North orientation position, Q are set of the lane using curve obtained parameter after Cardinal spline interpolation three times；
4) fitting of terrain vehicle diatom obtains:
For node coordinate collection P={ S selected on any one lane center in target road1=(x1,
y1),…,Sk=(xk,yk),…,Sm=(xm,ym), its horizontal alignment is fitted according to Cardinal Based on Interpolating Spline three times；
Cardinal spline curve is determined completely by 4 continuous nodes three times, and intermediate two nodes are the endpoint of curved section, remaining phase
Two adjacent points are used to calculate the slope of the curved section endpoint；If 4 continuous nodes are Sk-1,Sk,Sk+1,Sk+2, wherein k=
2,3 ..., m-2, if S (μ) is node SkAnd Sk+1Between curved section vector mode, wherein μ be parameter, 0≤μ≤1, then from
Sk-1To Sk+2Between 4 points for establishing Cardinal spline curve section boundary condition three times are as follows:
In formula (8), S (0) and S (1) are respectively S (μ) in node SkAnd Sk+1Between two endpoints of curved section position to
Amount, S ' (0) and S ' (1) are respectively tangent vector of the curved section at two-end-point, and curve parameter μ is in two endpoint values 0 and 1
Between change；Parameter t is tension (tension) coefficient, and t controls the tightness of Cardinal spline curve and input node, t
Cardinal spline curve is tight curve when > 0, and Cardinal spline curve is loose curve, the model specification tension system when t < 0
The initial value of number t is 0, and the value that the later period constantly adjusts t makes spline curve meet target road landform, atural object and surrounding enviroment
Control requirement and required precision；The node S known to formula (8)kAnd Sk+1The slope at place respectively with stringWithCheng Zheng
Than；
Four equations in solution formula (8), and it is converted into matrix form, it is as follows:
Cardinal matrix IcIt is as follows:
Wherein s=1-t/2；
Matrix equation in formula (9) is launched into polynomial form, is had:
Further by Sk-1,Sk,Sk+1,Sk+2X on two-dimensional surface is resolved into, the component on the direction y obtains node SkAnd Sk+1
Between curved section expression formula of three functional expressions of parameter on x, the direction y, it is as follows:
It will be arranged after formula (12) expansion by the ascending power of μ, obtain node SkAnd Sk+1Between Cardinal spline curve three times
Parametric form, it is as follows:
Parameter is as follows in formula (13):
Wherein, s=1-t/2；Defined parameters matrix
Simultaneously in node SkAnd Sk+1Between equally spacedly choose 8 nodes, and inserted using this 10 nodes as cubic spline
The interpolation point of value function, and using this spline function value as a reference value；Calculate node SkAnd Sk+1Between curved section by three times
Deviation between the obtained spline function value of Cardinal spline method and a reference value, if deviation is positive, by t toward negative
Direction is adjusted, if deviation is negative, t is adjusted toward positive, until by deviation control within 0.3m；
Lane center curve obtained parameter after Cardinal spline interpolation three times can be obtained by formula (8)-(14)
Set Q=(t, Y2,…,Yk,…,Ym-2), wherein t is the coefficient of tension, k=2,3 ..., m-2.
Further improvement of the present invention, of length no more than 3km of each pinpoint target road, as used by this model
Gauss Kru&4&ger projection is higher in a small range precision, and error can constantly increase with the increase of drop shadow spread, therefore this hair
Of length no more than 3km of selected each pinpoint target road in bright.
A kind of urban road network model towards lane grade navigator fix proposed by the present invention has the advantages that
1, road plane lane line information is not only contained in model proposed by the present invention, is also added into both sides of the road building
Road geographic information, road plane lane line information and both sides of the road building information three are fused together by object information, weight
Urban road network framework is newly defined, vehicle can be directly using both sides of the road building information in this road net model to reception
To satellite-signal screened, reject the biggish signal of error, reduce resolving amount, it is fixed to effectively improve under the premise of low cost
Position precision.
2, horizontal alignment of the present invention using lane on Cardinal Based on Interpolating Spline fit object road three times, the sample
Curve can preferably adapt to the big feature of urban road Curvature varying, and the parameter of acquisition can more realistically reflect city road
The plane lane status on road, at the same can directly by change coefficient of tension t value control three times Cardinal spline curve with
The tightness of road circuit node calculates succinctly, convenient for control, can preferably meet urban road landform, atural object and road week
Condition for peace is wanted in the control of surrounding environment.
3, urban road network model proposed by the present invention, extends the attribute of traditional road grade numerical map, improves
The precision of traditional road grade numerical map has many advantages, such as that information content is complete, precision is high, applicability is wide, realizes that vehicle is multiple in city
Accurate under miscellaneous traffic environment, lasting, real-time navigation positioning meets the needs of lane grade navigator fix.
Detailed description of the invention
Fig. 1 is model architecture figure of the present invention.
Fig. 2 is road network structure figure of the present invention；By taking the target road of a two-way six-lane as an example, wherein middle part dotted line indicates
Road axis, white dashed line indicate each lane center of road, and solid black lines indicate both sides of the road boundary line, and rectangle indicates road
Road two sides building.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
The present invention proposes a kind of urban road network model towards lane grade navigator fix, and model architecture novelty is closed
Reason, data structure is concisely perfect, extends the attribute of traditional road grade numerical map, improves traditional road grade numerical map
Precision has many advantages, such as that information content is complete, precision is high, applicability is wide, under complicated urban traffic environment, realize vehicle it is accurate,
Continue, real-time navigation positioning, meets the needs of lane grade navigator fix.
As an embodiment of the present invention, the present invention proposes one kind as depicted in figs. 1 and 2 towards lane grade navigator fix
Urban road network model, the model based on the model architecture of traditional road grade numerical map and data structure, for
The actual demand of lane grade navigator fix has redefined urban road network framework.The model carries out segmentation to urban road and builds
Section (not including intersection) between the adjacent intersection of any two is defined as an independent target road by mould,
The Gauss Kru&4&ger projection as used by this model is higher in a small range precision, and error can be with the increasing of drop shadow spread
Increase greatly and constantly, therefore of length no more than 3km of each pinpoint target road selected in the present invention.
For each target road, model is mainly built by the road geographic information layer of the target road, both sides of the road
Build object Information Level and road plane lane line Information Level three parts composition, while the road plane lane line Information Level in the model
Using the plane lane line of Cardinal Based on Interpolating Spline fit object road three times, so that linear with preferable smooth
Property, continuity and plasticity, the spline curve can preferably adapt to the big feature of urban road Curvature varying, the parameter of acquisition
It can more realistically reflect the plane lane status of urban road.It can directly be controlled simultaneously by changing the value of coefficient of tension t
The tightness of Cardinal spline curve and road circuit node three times calculates succinctly, convenient for control, can preferably meet city
Condition for peace is wanted in the control of route topography, atural object and road surrounding enviroment.Urban road network model proposed by the invention,
Model architecture is new reasonable, and data structure is concisely perfect, extends the attribute of traditional road grade numerical map, improves traditional road
The precision of road grade numerical map, has many advantages, such as that information content is complete, precision is high, applicability is wide, under complicated urban traffic environment,
Realize that vehicle is accurate, continue, real-time navigation positioning meet the needs of lane grade navigator fix.
One urban road network model towards lane grade navigator fix will not only consider the several of road network itself
What feature, it is also contemplated that both sides of the road building blocks navigation positioning satellite signal, by the information of both sides of the road building
It is added in road net model, realizes road geographic information, road plane lane line information and both sides of the road building information three
Organically blend, for vehicle realize lane grade navigator fix lay a solid foundation.
Therefore, road network model proposed by the present invention is as follows:
The model M consists of three parts: road geographic information layer G, both sides of the road building information layer J, road plane vehicle
Diatom Information Level T, i.e.,
Μ=(G, J, T) (1)；
1, road geographic information layer G:
G=(Rid,O,U,V,W) (2)；
The Information Level mainly contains the number R of target roadid, target road starting point O latitude and longitude coordinates, target track
The geographical attribute collection U on road itself, the number of target road two sides building collect the number collection of V and the included lane line of target road
W；As shown in Fig. 2,It is the coordinate of target road center line starting point, whereinIt is that longitude, the λ of starting point has been
The latitude of initial point can carry out earth coordinates to height with latitude and longitude coordinates of the Gauss Kru&4&ger projection to this starting point by 3 degree
The conversion of this plane right-angle coordinate, and this is put into the origin as Gauss Kru&4&ger projection；The geography of U expression target road
Property set, U=(Re,Rl,Rw), ReIndicate the title of target road, RlIndicate the length of target road, RwIndicate target road
Width；
Furthermore it in view of target road two sides building blocks satellite-signal, is calculated to be resolved convenient for later period vehicle location
Effective extraction and use of the method to two sides building information, therefore by two sides building independent numbering, soWherein α and β is respectively indicated on the left of target road
With the number of right side building,The number of i-th of building on the left of expression target road, i=1,2 ..., α,Table
Show the number of j-th of building on the right side of target road, j=1,2 ..., β；Lane line in this model refers to every in target road
The center line in lane is virtual lane line, in real road environment and is not present, is equal to this lane line in this model
The lane of real road, so W=(N1,…,Nr,…,Nd), wherein d indicates the number of the included lane line of target road, Nr
Indicate the number of the r articles lane line in target road, r=1,2 ... d；
2, both sides of the road building information layer J:
In formula (3), RidIndicate the number of target road, α and β respectively indicate the number of target road left and right side building
Mesh,The information of i-th of building on the left of expression target road, i=1,2 ..., α,Indicate jth on the right side of target road
The information of a building, j=1,2 ..., β, this model merge the information of target road one with its two sides building information
It rises.In order in actual vehicle positioning calculation, effectively lock the information of vehicle place both sides of the road building, so needing mesh
The plane geometry center point coordinate and elevation information for marking both sides of the road building are added to together in this Information Level, furthermore in reality
Urban traffic environment in, target road two sides have very long " span " there are many building on road direction, so mould
Type using the coordinate of building plane geometry two endpoints on target road direction as effective assessment of this building span, and
It has been introduced into this layer.SoIt can further indicate that are as follows:
In formula (4),Indicate the number of i-th of building on the left of target road, as shown in Fig. 2,Indicate the coordinate of this building plane geometry central point,WithRespectively indicate this building
Object plane geometric center point is using target road starting point O as the abscissa (east orientation under the Gaussian parabolic line system of origin
Position) and ordinate (north orientation position),Then indicate this building plane geometry
The coordinate set of two endpoints on target road direction,It is endpoint using target road starting point as the Gaussian plane of origin
Abscissa under rectangular coordinate system,It is endpoint using target road starting point as under the Gaussian parabolic line system of origin
Ordinate, HleftIndicate the height of this building；
Similarly,It can further indicate that are as follows:
In formula (5),Indicate the number of j-th of building on the right side of target road, as shown in Fig. 2,Indicate the coordinate of this building plane geometry central point,WithRespectively indicate this building
Object plane geometric center point is using target road starting point O as the abscissa (east orientation under the Gaussian parabolic line system of origin
Position) and ordinate (north orientation position),Then indicate this building object plane
The coordinate set of geometry two endpoints on target road direction,It is endpoint using target road starting point as the height of origin
Abscissa under this plane right-angle coordinate,It is endpoint using target road starting point as the Gaussian plane right angle of origin
Ordinate under coordinate system, HrightIndicate the height of this building；The specific data information of target road and its two sides building
It can be obtained from the Bureau of Urban Planning in the Map Services such as OpenStreetMap, Google Earth software or location；
3, road plane lane line Information Level T:
In formula (6), RidIndicate the number of target road, d indicates the number of the included lane line of target road, LrIndicate mesh
The information of the r articles lane line on road is marked, wherein r=1,2 ..., d；LrIt can further indicate that are as follows:
Lr=(P, Q) (7)；
In formula (7), P={ S1=(x1,y1),…,Sk=(xk,yk),…,Sm=(xm,ym) it is in the r articles lane center
The node coordinate collection sequentially chosen on line, wherein k=2,3 ..., m-2, S2And Sm-1It is the beginning and end in the lane, S respectively1
Be on the lane extended line with S2A bit adjacent, SmBe on the lane extended line with Sm-1A bit adjacent, x and y difference
It is using target road starting point O as the abscissa (east orientation position) and ordinate under the Gaussian parabolic line system of origin
(north orientation position), Q are set of the lane using curve obtained parameter after Cardinal spline interpolation three times；
4, the fitting of terrain vehicle diatom obtains:
In general, the lane for the curve needs process of lane horizontal alignment on fit object road or closely
Node, and the curve is required to adapt to the big feature of urban road Curvature varying, can satisfy urban road landform, atural object
And condition for peace is wanted in the control of road surrounding enviroment, is able to reflect the plane lane status of urban road, while parameter of curve meter
It calculates succinctly, is convenient for practical application.Currently used curve-fitting method has Lagrange's interpolation, least square interpolation method, divides
Duan Sanci Hermite's interpolation method and cubic spline interpolation etc..Wherein Lagrange's interpolation is simply easy to accomplish, but can go out
Existing dragon lattice phenomenon, and error of fitting is larger；Least square interpolation method is relatively suitble to rambling unordered discrete point, but
It is not ideal enough for orderly point；It is segmented the derivative value that Hermite's interpolation method three times combines function, compared with Lagrange's interpolation
Method precision increases, but slickness is inadequate；The interpolation curve that cubic spline interpolation obtains is by all in target road
Node, and line smoothing, conformal function is also preferable, but required interstitial content is more, and calculating is many and diverse, and unsuitable reality is answered
With.
In order to solve drawbacks described above, present invention employs Cardinal Based on Interpolating Spline three times to come in fit object road
The horizontal alignment in every lane.The curve that this method obtains passes through all nodes in lane in target road, linear to have preferably
Slickness, continuity and plasticity, while can reach according to the tightness that different specification criterion adjusts curve and meet city
The spline curve that city's target road requires, enables the spline curve preferably to adapt to the big spy of urban road Curvature varying
The parameter of point, acquisition can more realistically reflect the plane lane status of urban road, and required interstitial content is limited, meter
It calculates succinctly, is convenient for practical application.
For the node coordinate collection P={ S chosen in order on any one lane center in target road1=(x1,
y1),…,Sk=(xk,yk),…,Sm=(xm,ym), its horizontal alignment is fitted according to Cardinal Based on Interpolating Spline three times；
Cardinal spline curve is determined completely by 4 continuous nodes three times, and intermediate two nodes are the endpoint of curved section, remaining phase
Two adjacent points are used to calculate the slope of the curved section endpoint；If 4 continuous nodes are Sk-1,Sk,Sk+1,Sk+2, wherein k=
2,3 ..., m-2, if S (μ) is node SkAnd Sk+1Between curved section vector mode, wherein μ be parameter, 0≤μ≤1, then from
Sk-1To Sk+2Between 4 points for establishing Cardinal spline curve section boundary condition three times are as follows:
In formula (8), S (0) and S (1) are respectively S (μ) in node SkAnd Sk+1Between curved section two endpoints position to
Amount, S ' (0) and S ' (1) are respectively tangent vector of the curved section at two-end-point, and the parameter μ of curve is in two endpoint values 0
And change between 1；Parameter t is tension (tension) coefficient, and t controls the elastic journey of Cardinal spline curve and input node
Degree, Cardinal spline curve is tight curve when t > 0, and Cardinal spline curve is loose curve when t < 0, when t is 0,
Cardinal batten is also known as Catmull-Rom batten or Overhauser batten, the initial value of model specification coefficient of tension t
It is 0, the value that the later period constantly adjusts t makes spline curve meet the control requirements of target road landform, atural object and surrounding enviroment
And required precision；The node S known to formula (8)kAnd Sk+1The slope at place respectively with stringWithIt is directly proportional；
Four equations in solution formula (8), and it is converted into matrix form, it is as follows:
Cardinal matrix IcIt is as follows:
Wherein s=1-t/2；
Matrix equation in formula (9) is launched into polynomial form, is had:
Further by Sk-1,Sk,Sk+1,Sk+2X on two-dimensional surface is resolved into, the component on the direction y obtains node SkAnd Sk+1
Between curved section expression formula of three functional expressions of parameter on x, the direction y, it is as follows:
It will be arranged after formula (12) expansion by the ascending power of μ, obtain node SkAnd Sk+1Between Cardinal spline curve three times
Parametric form, it is as follows:
Parameter is as follows in formula (13):
Wherein, s=1-t/2；Defined parameters matrix
Simultaneously in node SkAnd Sk+1Between equally spacedly choose 8 nodes, and inserted using this 10 nodes as cubic spline
The interpolation point of value function, the interpolation curve precision obtained by the method is higher, more the target road lane line of approaching to reality,
And using this spline function value as a reference value.Calculate node SkAnd Sk+1Between curved section by Cardinal batten three times insert
Deviation between the obtained spline function value of value method and a reference value is adjusted t toward negative direction, if deviation is positive if partially
Difference is negative, then adjusts t toward positive, until by deviation control within 0.3m；
Lane center curve obtained parameter after Cardinal spline interpolation three times can be obtained by formula (8)-(14)
Set Q=(t, Y2,…,Yk,…,Ym-2), wherein t is the coefficient of tension, k=2,3 ..., m-2.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and made any modification or equivalent variations according to the technical essence of the invention, still fall within present invention model claimed
It encloses.
Claims (2)
1. a kind of urban road network model towards lane grade navigator fix, it is characterised in that:
The model carries out segmentation modeling to urban road；By the section between the adjacent intersection of any two and friendship is not included
Cross road mouth is defined as an independent target road, for each target road, model by the target road road
Information Level, both sides of the road building information layer and road plane lane line Information Level three parts composition are managed, while in the model
Road plane lane line Information Level uses the plane lane line of Cardinal Based on Interpolating Spline fit object road three times, to obtain
The parameter taken can more realistically reflect the plane lane status of urban road；
The model is specific as follows:
The model M consists of three parts: road geographic information layer G, both sides of the road building information layer J, road plane lane line
Information Level T, it may be assumed that
Μ=(G, J, T) (1)；
1) road geographic information layer G:
G=(Rid,O,U,V,W) (2)；
In formula (2), RidIndicate the number of target road；Indicate the coordinate of target road starting point, whereinAnd λ
It is the longitude and latitude of starting point respectively；U indicates the geographical attribute collection of target road, U=(Re,Rl,Rw), wherein ReIndicate mesh
Mark the title of road, RlIndicate the length of target road, RwIndicate the width of target road；V indicates target road two sides building
Number collection,Wherein α and β respectively indicate mesh
The number of road left and right side building is marked,The number of i-th of building on the left of expression target road, i=1,2 ...,
α,Indicate the number of j-th of building on the right side of target road, j=1,2 ..., β；W indicates the included lane of target road
The number collection of line, W=(N1,…,Nr,…,Nd), wherein d indicates the number of the included lane line of target road, NrIndicate target
The number of the r articles lane line on road, r=1,2 ..., d；
2) both sides of the road building information layer J:
In formula (3), RidIndicating the number of target road, α and β respectively indicate the number of target road left and right side building,The information of i-th of building on the left of expression target road, i=1,2 ..., α,It indicates to build for j-th on the right side of target road
Build the information of object, j=1,2 ..., β；It can further indicate that are as follows:
In formula (4),Indicate the number of i-th of building on the left of target road,Indicate this building
The coordinate of object plane geometric center point,WithThis building plane geometry central point is respectively indicated to rise with target road
Initial point O is the abscissa, that is, east orientation position and ordinate, that is, north orientation position under the Gaussian parabolic line system of origin；Then indicate this building plane geometry two endpoints on target road direction
Coordinate set,It is endpoint using target road starting point as the abscissa under the Gaussian parabolic line system of origin,It is endpoint using target road starting point as the ordinate under the Gaussian parabolic line system of origin, HleftIndicate that this builds
Build the height of object；
Similarly,It can further indicate that are as follows:
In formula (5),Indicate the number of j-th of building on the right side of target road,Indicate this
The coordinate of building plane geometry central point,WithThis building plane geometry central point is respectively indicated with target
Road starting point O is the abscissa, that is, east orientation position and ordinate, that is, north orientation position under the Gaussian parabolic line system of origin；Then indicate this building plane geometry two ends on target road direction
The coordinate set of point,It is endpoint using target road starting point as the abscissa under the Gaussian parabolic line system of origin,It is endpoint using target road starting point as the ordinate under the Gaussian parabolic line system of origin, HrightIndicate this
The height of building；
3) road plane lane line Information Level T:
In formula (6), RidIndicate the number of target road, d indicates the number of the included lane line of target road, LrIndicate target track
The information of the r articles lane line on the road, wherein r=1,2 ..., d；LrIt can further indicate that are as follows:
Lr=(P, Q) (7)；
In formula (7), P={ S1=(x1,y1),…,Sk=(xk,yk),…,Sm=(xm,ym) it is on the r articles lane center
The node coordinate collection that sequence is chosen, wherein k=2,3 ..., m-2, S2And Sm-1It is the beginning and end in the lane, S respectively1Be
On the lane extended line with S2A bit adjacent, SmBe on the lane extended line with Sm-1It is adjacent a bit, x and y be respectively
Using target road starting point O as the abscissa under the Gaussian parabolic line system of origin, that is, east orientation position and ordinate, that is, north orientation
Position, Q are set of the lane using curve obtained parameter after Cardinal spline interpolation three times；
4) fitting of terrain vehicle diatom obtains:
For node coordinate collection P={ S selected on any one lane center in target road1=(x1,y1),…,Sk=
(xk,yk),…,Sm=(xm,ym), its horizontal alignment is fitted according to Cardinal Based on Interpolating Spline three times；Cardinal three times
Spline curve is determined that intermediate two nodes are the endpoints of curved section by 4 continuous nodes completely, remaining two adjacent point is used
In the slope for calculating the curved section endpoint；If 4 continuous nodes are Sk-1,Sk,Sk+1,Sk+2, wherein k=2,3 ..., m-2, if
S (μ) is node SkAnd Sk+1Between curved section vector mode, wherein μ be parameter, 0≤μ≤1, then from Sk-1To Sk+2Between 4
Point is for establishing Cardinal spline curve section boundary condition three times are as follows:
In formula (8), S (0) and S (1) are respectively S (μ) in node SkAnd Sk+1Between two endpoints of curved section position vector, S '
It (0) is respectively tangent vector of the curved section at two-end-point with S ' (1), curve parameter μ is between two endpoint values 0 and 1
Variation；Parameter t is tension (tension) coefficient, and t controls the tightness of Cardinal spline curve and input node, t > 0
When Cardinal spline curve be tight curve, Cardinal spline curve is loose curve, the model specification coefficient of tension t when t < 0
Initial value be 0, the value that the later period constantly adjusts t makes spline curve meet target road landform, atural object and surrounding enviroment
Control requires and required precision；The node S known to formula (8)kAnd Sk+1The slope at place respectively with stringWithCheng Zheng
Than；
Four equations in solution formula (8), and it is converted into matrix form, it is as follows:
Cardinal matrix IcIt is as follows:
Wherein s=1-t/2；
Matrix equation in formula (9) is launched into polynomial form, is had:
Further by Sk-1,Sk,Sk+1,Sk+2X on two-dimensional surface is resolved into, the component on the direction y obtains node SkAnd Sk+1Between
Expression formula of three functional expressions of parameter of curved section on x, the direction y is as follows:
It will be arranged after formula (12) expansion by the ascending power of μ, obtain node SkAnd Sk+1Between the spline curve of Cardinal three times ginseng
Number form formula is as follows:
Parameter is as follows in formula (13):
Wherein, s=1-t/2；Defined parameters matrix
Simultaneously in node SkAnd Sk+1Between equally spacedly choose 8 nodes, and using this 10 nodes as cubic spline interpolation letter
Several interpolation points, and using this spline function value as a reference value；Calculate node SkAnd Sk+1Between curved section by three times
Deviation between the obtained spline function value of Cardinal spline method and a reference value, if deviation is positive, by t toward negative
Direction is adjusted, if deviation is negative, t is adjusted toward positive, until by deviation control within 0.3m；
Lane center curve obtained parameter sets Q after Cardinal spline interpolation three times can be obtained by formula (8)-(14)
=(t, Y2,…,Yk,…,Ym-2), wherein t is the coefficient of tension, k=2,3 ..., m-2.
2. a kind of urban road network model towards lane grade navigator fix according to claim 1, it is characterised in that:
Of length no more than 3km of each pinpoint target road.
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| CN111238501B (en) * | 2018-11-29 | 2022-09-13 | 沈阳美行科技股份有限公司 | Method and device for generating transition road surface on map and related equipment |
| CN109443374A (en) * | 2018-12-26 | 2019-03-08 | 联创汽车电子有限公司 | Lane line emerging system and its fusion method |
| CN111381269B (en) * | 2018-12-28 | 2023-09-05 | 沈阳美行科技股份有限公司 | Vehicle positioning method, device, electronic equipment and computer readable storage medium |
| CN111383450B (en) * | 2018-12-29 | 2022-06-03 | 阿里巴巴集团控股有限公司 | Traffic network description method and device |
| CN110162903B (en) * | 2019-05-28 | 2023-05-26 | 辽宁师范大学 | Urban building windward surface density calculation method and system based on grid parallelism |
| CN112784533B (en) * | 2021-02-07 | 2022-02-22 | 腾讯科技（深圳）有限公司 | Lane group number generation method, lane group number generation device, computer equipment and storage medium |
| CN113064077A (en) * | 2021-02-20 | 2021-07-02 | 山东科技大学 | Lithium battery life attenuation curve fitting method based on piecewise fitting |
| CN114771518B (en) * | 2022-04-06 | 2023-08-01 | 北京百度网讯科技有限公司 | Lane center guide wire generation method and device, electronic equipment and medium |
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